cmake_minimum_required(VERSION 2.8.3)
project(point_cloud_mapper)

find_package(PCL REQUIRED COMPONENTS common octree)
if(NOT PCL_FOUND)
  message(FATAL_ERROR "This program requires the PCL library.")
endif(NOT PCL_FOUND)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  parameter_utils
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
    roscpp
    parameter_utils
  DEPENDS
    PCL
)

include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if (COMPILER_SUPPORTS_CXX11)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
  message(FATAL_ERROR "${CMAKE_CXX_COMPILER} doesn't provide c++11 support.")
endif()

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
)

link_directories(
  ${catkin_LIBRARY_DIRS}
  ${PCL_LIBRARY_DIRS}
)
link_directories("/home/zqt/software/qt5/5.10.0/gcc_64/lib")

add_library(${PROJECT_NAME} src/PointCloudMapper.cc)
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}.cc)
target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
)
